Do you know the saying, "absence makes the heart grow fonder"? You are the one that Simba spends the day with, so he doesn't get excited like he does when your husband comes home. However, he is obviously very bonded with you if he gets anxious when you leave his sight (ie., go outside or to the bathroom). A baroo definitely does not signify love or bonding - I think it is more excitement (or reacting to a sound).
My b is very quiet (except for yawns) but he started yodeling the first time he met my younger son who was visiting from out of town - I think he sensed MY excitement over my son's arrival and reacted to that. He obviously loves my other son who he sees often but has never yodeled for him (and it does hurt my son's feelings).
My b did once "sing" along to the mournful sound of a trumpet playing taps on Memorial Day. Long ago, I fostered a b girl who would reliably sing/yodel/baroo to the sound track of "MASH". It was very funny. I taught my previous b to "speak" on command - he would let out a little "woof" for a special treat, but I had to get him all worked up and excited before he would do it.
My current b is unusually calm and I think that's why he is also very quiet. I'd rather have a calm b than one who makes noise.